From 72355cf000348ce4539d737dd564531ea5616afe Mon Sep 17 00:00:00 2001 From: "Daniel M. Sahu" Date: Wed, 1 Feb 2023 15:22:39 -0500 Subject: [PATCH] EKF2: Following style suggestion. Signed-off-by: Daniel M. Sahu --- src/modules/ekf2/EKF/gravity_fusion.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/gravity_fusion.cpp index 10ed0152f7..a61670ea23 100644 --- a/src/modules/ekf2/EKF/gravity_fusion.cpp +++ b/src/modules/ekf2/EKF/gravity_fusion.cpp @@ -61,10 +61,13 @@ void Ekf::fuseGravity() &_gravity_innov, &innovation_variance, &Kx, &Ky, &Kz); // perform fusion for each axis - if (!measurementUpdate(Kx, innovation_variance(0), _gravity_innov(0))) + if (!measurementUpdate(Kx, innovation_variance(0), _gravity_innov(0))) { PX4_ERR("Gravity fusion (X axis) unsuccessful."); - if (!measurementUpdate(Ky, innovation_variance(1), _gravity_innov(1))) + } + if (!measurementUpdate(Ky, innovation_variance(1), _gravity_innov(1))) { PX4_ERR("Gravity fusion (y axis) unsuccessful."); - if (!measurementUpdate(Kz, innovation_variance(2), _gravity_innov(2))) + } + if (!measurementUpdate(Kz, innovation_variance(2), _gravity_innov(2))) { PX4_ERR("Gravity fusion (Z axis) unsuccessful."); + } }